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Alternative TitlePath–following Control and Simulation of Underactuated Autonomous Underwater Vehicles Based on Fuzzy P plus ID Control
田宇; 张艾群; 李伟
Source Publication系统仿真学报
Indexed ByCSCD
Contribution Rank1
Funding Organization国家863高技术研究发展计划(2007AA09Z207); 机器人学国家重点实验室课题(08A120N201,RLZ200810)
Keyword自主水下机器人 欠驱动 路径跟踪控制 混合模糊p+id控制
Other AbstractThe issue of 2D path-following control of underactuated autonomous underwater vehicles was studied. Based on single-input fuzzy controller expressed in analytical form, a hybrid fuzzy P plus ID control algorithm was proposed. And its application to the tracking control of path-following approach angle was investigated. The design and parameter tuning of the tracking controller was studied, and the stability of the tracking control system based on the proposed hybrid fuzzy P plus ID control algorithm was analyzed using small gain theorem. At last, simulation studies using the nonlinear dynamic model of an underactuated AUV were implemented, and the results demonstrate the robustness and adaptability of the hybrid fuzzy P plus ID based path-following control system, and the AUV can follow the predefined path precisely.
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Cited Times:1[CSCD]   [CSCD Record]
Document Type期刊论文
Recommended Citation
GB/T 7714
田宇,张艾群,李伟. 基于混合模糊P+ID控制的欠驱动AUV路径跟踪控制及仿真[J]. 系统仿真学报,2012,24(5):1016-1020,1025.
APA 田宇,张艾群,&李伟.(2012).基于混合模糊P+ID控制的欠驱动AUV路径跟踪控制及仿真.系统仿真学报,24(5),1016-1020,1025.
MLA 田宇,et al."基于混合模糊P+ID控制的欠驱动AUV路径跟踪控制及仿真".系统仿真学报 24.5(2012):1016-1020,1025.
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